US8390228B2 - Methods and systems for induction machine control - Google Patents

Methods and systems for induction machine control Download PDF

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US8390228B2
US8390228B2 US12/635,313 US63531309A US8390228B2 US 8390228 B2 US8390228 B2 US 8390228B2 US 63531309 A US63531309 A US 63531309A US 8390228 B2 US8390228 B2 US 8390228B2
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rotor
value
flux
generating
estimated
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US20110140646A1 (en
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Mengwei Campbell
Bon Ho Bae
Silva Hiti
Sibaprasad Chakrabarti
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GM Global Technology Operations LLC
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation

Definitions

  • the present invention generally relates to the field of induction machines, and, more specifically, to methods and systems for controlling induction machines.
  • Indirect field-oriented control is widely used for induction machines, such as motors of vehicles.
  • IFOC is utilized in some vehicles for three-phase induction machine control in traction application.
  • IFOC can be a valuable tool, for example in using rotor resistance values in estimating torque values for an induction machine, for example of a vehicle.
  • IFOC is commonly used control method for a three-phase induction machine. For example, if induction machine parameters of the IFOC are know, the IFOC reduces the complex dynamics of an induction machine to the dynamics of a separately excited direct current machine. Using this approach allows the flux and torque of the induction machine to be controlled independently.
  • rotor resistance values which are functions of rotor temperature, can have a significant impact on the performance of IFOC. Torque accuracy, response and efficiency can similarly be affected by the accuracy of the values of rotor resistance that are used in the calculations.
  • a method for controlling an induction machine having a rotor comprises the steps of obtaining a torque command, calculating an estimated squared value of flux determining an offset for the resistance of the rotor, and generating an updated measure of rotor resistance using the estimated squared value and the offset.
  • a method for controlling an induction machine having a rotor comprises the steps of obtaining a torque command, determining a position of the rotor, determining a speed of the rotor, calculating an estimated squared value of flux of the rotor using the torque command, the position of the rotor, and the speed of the rotor, determining a flux square offset value for the rotor using the torque command, the speed of the rotor, and a look-up table, and generating an updated measure of rotor resistance using the estimated squared value and the flux square offset value.
  • a system for controlling an induction machine having a rotor comprises a first sensor, a second sensor, and a processor.
  • the first sensor is configured to measure a position of the rotor.
  • the second sensor is configured to measure a speed of the rotor.
  • the processor is coupled to the first sensor and the second sensor.
  • the processor is configured to at least facilitate obtaining a torque command, calculating an estimated squared value of flux of the rotor using the torque command, the position of the rotor, and the speed of the rotor, determining a flux square offset value for the rotor using the torque command, the speed of the rotor, and a look-up table, and generating an updated measure of rotor resistance using the estimated squared value and the flux square offset value.
  • FIG. 1 is a functional block diagram of a system for controlling an induction machine, in accordance with an exemplary embodiment of the present invention
  • FIG. 2 is a functional block diagram of rotor resistance calculation and correction process using an indirect field oriented control (IFOC) process with model reference adaptive control (MRAC) tuning that employs a square of the rotor flux magnitude to estimate rotor resistance, and that can be used in connection with the system of FIG. 1 , in accordance with an exemplary embodiment;
  • IFOC indirect field oriented control
  • MRAC model reference adaptive control
  • FIG. 3 is a plot showing graphical results pertaining to experiments conducted using some of the exemplary embodiments for estimating rotor resistance and controlling induction machines without using a flux squared lookup table in accordance with the process of FIG. 2 and the system of FIG. 1 under a first set of conditions, in accordance with an exemplary embodiment;
  • FIGS. 4-6 are plots showing graphical results pertaining to experiments conducted using some of the exemplary embodiments for estimating rotor resistance and controlling induction machines using a flux squared lookup table in accordance with the process of FIG. 2 and the system of FIG. 1 under various conditions, in accordance with an exemplary embodiment;
  • FIG. 7 is a functional block diagram of an IFOC sub-process of the rotor resistance calculation and correction process of FIG. 7 , in accordance with an exemplary embodiment.
  • FIG. 1 is a functional block diagram of a system 100 for controlling an induction machine 102 having a rotor 104 and a stator 106 , in accordance with an exemplary embodiment.
  • the system 100 includes a controller 110 and a computer system 120 .
  • the controller 110 includes one or more sensors 112 .
  • one or more of the sensors 112 are configured to measure a position of the rotor 104 .
  • one or more additional sensors 112 are configured to measure a speed of rotation of the rotor 104 . These measured values can be used in determining an estimated flux value of the rotor 104 .
  • the measurements of the sensors 112 and/or information pertaining thereto are provided to the computer system 120 for processing, preferably by the processor 122 thereof.
  • the computer system 120 is coupled to the controller 110 and to the sensors 112 thereof.
  • the computer system 120 comprises a computation circuit of the system 100 .
  • the computer system 120 includes a processor 122 , a memory 124 , an interface 126 , a storage device 128 , and a computer bus 130 .
  • the processor 122 performs the computation and control functions of the computer system 120 and the system 100 , and may comprise any type of processor or multiple processors, single integrated circuits such as a microprocessor, or any suitable number of integrated circuit devices and/or circuit boards working in cooperation to accomplish the functions of a processing unit.
  • the processor 122 executes one or more programs 132 contained within the memory 124 and, as such, controls the general operation of the computer system 120 .
  • the memory 124 can be any type of suitable memory. This could include the various types of dynamic random access memory (DRAM) such as SDRAM, the various types of static RAM (SRAM), and the various types of non-volatile memory (PROM, EPROM, and flash). Also as depicted in FIG. 1 , the memory 124 preferably stores the program 132 for use in executing the steps of various processes such as the process 200 of FIG. 2 discussed further below. Also in a preferred embodiment, the memory 124 stores a look-up table 134 for use in determining adjusted values of rotor flux squared for the rotor 104 of the induction machine 102 , also preferably in accordance with the process 200 of FIG. 2 discussed further below.
  • the computer bus 130 serves to transmit programs, data, status and other information or signals between the various components of the computer system 120 .
  • the interface 126 allows communication to the computer system 120 , for example from the controller 110 , the sensors 112 thereof, a system driver, and/or another computer system, and can be implemented using any suitable method and apparatus. It can include one or more network interfaces to communicate with other systems or components. The interface 126 may also include one or more network interfaces to communicate with technicians, and/or one or more storage interfaces to connect to storage apparatuses, such as the storage device 128 .
  • the storage device 128 can be any suitable type of storage apparatus, including direct access storage devices such as hard disk drives, flash systems, floppy disk drives and optical disk drives.
  • the storage device 128 comprises a program product from which memory 124 can receive a program 132 that executes one or more embodiments of one or more processes, such as the process 200 set forth further below or portions thereof.
  • the program product may be directly stored in and/or otherwise accessed by the memory 124 and/or a disk (e.g., disk 136 ) such as that referenced below.
  • the computer bus 130 can be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hard-wired connections, fiber optics, infrared and wireless bus technologies.
  • the program 132 is stored in the memory 124 and executed by the processor 122 . It will be appreciated that the system 100 may differ from the embodiment depicted in FIG. 1 , for example in that the system 100 may be coupled to or may otherwise utilize one or more remote computer systems and/or other control systems.
  • FIG. 2 is a functional block diagram of a rotor resistance calculation and correction algorithm process 200 with model reference adaptive control (MRAC) tuning that employs a square of the rotor flux magnitude to estimate rotor resistance, in accordance with an exemplary embodiment.
  • the process 200 can be used in connection with the system 100 of FIG. 2 , also in accordance with an exemplary embodiment.
  • MRAC model reference adaptive control
  • a rotor position is determined (step 201 ).
  • the rotor position is measured by one of the sensors 112 of the controller 110 of FIG. 1 with respect to the rotor 104 of FIG. 1 .
  • the rotor position is calculated by the processor 122 of the computer system 120 of FIG. 1 using information obtained by one of the sensors 112 of the controller 110 of FIG. 1 with respect to the rotor 104 of FIG. 1 .
  • a rotor speed ⁇ r is determined (step 202 ).
  • the rotor speed is measured by one of the sensors 112 of the controller 110 of FIG. 1 with respect to the rotor 104 of FIG. 1 .
  • the rotor speed is calculated by the processor 122 of the computer system 120 of FIG. 1 using information obtained by one of the sensors 112 of the controller 110 of FIG. 1 with respect to the rotor 104 of FIG. 1 .
  • a torque command is received (step 203 ).
  • the torque command is received by the processor 122 of the computer system 120 of FIG. 1 from the induction machine 102 of FIG. 1 .
  • a current command is then generated (step 204 ).
  • the current command is generated using the torque command.
  • the current command is generated by the processor 122 of the computer system 120 of FIG. 1 as a function of the torque command of step 203 .
  • the torque command produces stator current command components i* ds and i* qs , respectively, which are provided to the processor 122 of FIG. 1 for processing in accordance with IFOC 206 (also referred to herein as step 206 or algorithm 206 ).
  • the IFOC 206 outputs reference voltages v a , v b , and v c , and a slip angle ⁇ slip , which are fed to a power inverter 208 of an induction machine 210 .
  • the induction machine 210 corresponds with the induction machine 102 of FIG. 1 .
  • an exemplary IFOC 206 for the rotor resistance calculation and correction process 200 of FIG. 2 is depicted, in accordance with an exemplary embodiment.
  • the IFOC 206 utilizes a current regulator 718 .
  • the IFOC 206 utilizes the commanded value for stator current components i* ds and i* qs , along with estimated rotor resistance R r and mutual inductance L m values to calculate a slip angle ⁇ slip (also referenced in FIG. 7 as ⁇ * s ) and a flux angle ⁇ * e (steps 702 - 714 ).
  • the flux angle ⁇ * e along with current component values i a , i b , and i c , are transformed from a stationary reference frame to a synchronous reference frame in order to generate updated stator current components i ds and i qs (step 716 ).
  • the updated stator current components i ds and i qs are provided to the current regulator 718 to generate updated voltage commands and transformed from the synchronous reference frame back to the stationary reference frame to generate the IFOC 206 outputs reference voltages v a , v b , and v c (step 720 ).
  • the reference voltages v a , v b , and v c can then be supplied to the inverter 208 of FIG. 2 for use in controlling the induction machine 210 of FIG. 2 . In a preferred embodiment, these calculations and processing are performed by the processor 122 of FIG. 1 .
  • a speed of the rotor is in a very high range (for example, above 10,000 revolutions per minute, by way of example only), or if a torque of the induction machine is lower than a predetermined amount (such as five percent of a maximum torque of the induction machine, by way of example only), then the rotor resistance correction algorithm is not implemented, and the rotor resistance is calculated instead in accordance with step 214
  • step 212 rotor resistance correction algorithm comprises steps 224 - 240 of FIG. 2 and as described below, in accordance with one exemplary embodiment.
  • step 224 rotor resistance correction algorithm comprises steps 224 - 240 of FIG. 2 and as described below, in accordance with one exemplary embodiment.
  • an updated rotor resistance value is provided (preferably to the processor 122 of FIG. 1 ) for use in the IFOC 206 of FIG. 2 .
  • an estimated rotor flux magnitude ⁇ circumflex over ( ⁇ ) ⁇ r 2 is calculated in the IFOC 206 using internal variables (step 224 ).
  • a calculating circuit preferably the processor 122 of FIG. 1 ) calculates an estimated rotor flux magnitude from measured quantities, including voltages v a , v b , and v c , the rotor slip angle ⁇ slip from the IFOC calculations of step 206 , the phase currents i a , i b , and i c , and the rotor speed ⁇ r .
  • This information is preferably provided to a processor (most preferably the processor 122 of FIG. 1 ) as part of a rotor resistance correction algorithm 220 .
  • the induction machine 210 of FIG. 2 comprises the induction machine 102 of FIG. 1 .
  • step 224 are made by the processor 122 of FIG. 1 using information provided to the processor 122 by one or more of the sensors 112 of FIG. 1 , and pertains to the rotor 104 of the induction machine 102 of FIG. 1 .
  • the information as to the estimated squared rotor flux magnitude calculation is obtained and actual rotor flux magnitude is calculated by, the processor 122 of FIG. 1 .
  • step 224 these calculations are performed in synchronous frame in which the currents appear to be dc in steady state.
  • commanded currents are used in equation (2) instead of the measured currents. This helps to reduce or avoid amplification of the noise in the actual implementation in this embodiment.
  • the estimated motor flux square ⁇ circumflex over ( ⁇ ) ⁇ r 2 is obtained by the following equation:
  • ⁇ ⁇ r 2 ⁇ ( V q ⁇ i d - V d ⁇ i q ) - L s ⁇ ⁇ ⁇ ( i d ⁇ d d t ⁇ i q - i q ⁇ d d t ⁇ i d + ⁇ e ⁇ i d 2 + ⁇ e ⁇ i q 2 ) ⁇ ⁇ L r ⁇ e , ( Equation ⁇ ⁇ 2 ) in which V d and V q are stator commanded voltages in a synchronous reference frame, i d and i q are stator currents in a synchronous frame (e.g., in which commanded currents are preferably used), L s ⁇ is an equivalent stator leakage inductance, L r is rotor leakage inductance, and ⁇ e is stator electrical frequency.
  • this estimated rotor flux squared tracks the actual flux squared.
  • This flux is preferably calculated inside the IFOC 206 by using a flux observer, for example using one or more of the sensors 112 of FIG. 2 .
  • the motor flux from flux observer is calculated as follows:
  • Equation (2) if R r is the actual rotor resistance and estimated fluxes from Equations (2) and (3) reflect the motor flux perfectly, then the ⁇ circumflex over ( ⁇ ) ⁇ r 2 value in Equation (2) should be equal to the ⁇ dr 2 value in Equation (3).
  • mutual inductance L m changes significantly with the machine saturation level. Accordingly, the ⁇ circumflex over ( ⁇ ) ⁇ r 2 value in Equation (2) is parameter sensitive.
  • leakage inductance variation with machine operation may also affect the accuracy of the value for ⁇ circumflex over ( ⁇ ) ⁇ r 2 . Accordingly, even though the correct is used, there is still an offset between ⁇ circumflex over ( ⁇ ) ⁇ r 2 and ⁇ dr 2 . This offset will cause an error in R r estimation, and therefore will be accounted for in steps 226 - 240 below with reference to the look-up table.
  • 2 is calculated (step 226 ).
  • 2 is calculated using the rotor speed ⁇ r from step 202 and a flux-squared look-up table.
  • the flux squared look-up table is calculated off-line using actual rotor resistance values.
  • the values in the look-up table are a function of torque and speed of the rotor.
  • the flux square offset preferably helps to account for any expected differences between the estimated rotor flux squared and the actual rotor flux squared in light of the actual rotor resistance. In a preferred embodiment, these calculations and processing are conducted by the processor 122 of FIG. 1 .
  • the look-up table comprises the look-up table 134 of FIG. 1 , and is stored in the memory 124 of FIG. 1 .
  • a value of actual rotor flux ⁇ dr is obtained from the IFOC 206 using equation (3) and multiplied by itself (step 228 ). In a preferred embodiment, this calculation and processing is conducted by the processor 122 of FIG. 1 . The squared value ⁇ 2 d , of step 228 is then added to the flux square offset value
  • step 234 a difference is calculated between the summed value of step 232 is then subtracted form the estimated flux square value ⁇ dr 2 from step 224 .
  • This difference is preferably calculated by a computation circuit, and most preferably by the processor 122 of FIG. 1 .
  • the output of this difference is used (preferably by the processor 122 of FIG. 1 ) in determining the rotor resistance value R r that is used in the IFOC 206 . Because the function (
  • step 234 The difference calculated in step 234 is then processed via a filter (preferably a low-pass filter) (step 236 ), an integrator (preferably initialized with an initial rotor resistance value as a function of the stator temperature) (step 238 ), and a limit function or algorithm (preferably, incorporating known temperature limits for the induction machine 210 (step 240 ) in order to determine a new value for rotor resistance magnitude for use in the IFOC 206 of FIG. 2 .
  • these steps are also conducted by the processor 122 of FIG. 1 .
  • FIG. 3 represents an experiment in which the experiment result of the actual motor rotor resistance 302 (calculated by measured rotor temperature), estimated rotor resistance 304 , and rotor resistance estimated from stator temperature at steady state 306 (2000 rpm and 10 nm) without using compensated flux squared offset in motoring operation.
  • the relative error between actual rotor resistance and estimated rotor resistance is
  • FIG. 4 shows the experiment result of the actual motor rotor resistance 402 , estimated rotor resistance 404 , and rotor resistance estimated from stator temperature at steady state 406 (2000 rpm and 10 nm) with compensated flux square offset in motoring operation.
  • the relative error between actual rotor resistance and estimated rotor resistance is within 0.5% at this operation point. This is a significant improvement over the results that are presented in FIG. 3 .
  • FIG. 5 and FIG. 6 show the experiment results of the actual motor rotor resistance ( 502 and 602 , respectively), estimated rotor resistance ( 504 and 604 , respectively), and rotor resistance estimated from stator temperature ( 506 and 606 , respectively) at 2000 rpm with varying torque command ( 508 and 608 , respectively) with compensated flux square offset in motoring and regeneration operation respectively. Observation on these results shows that the estimated rotor resistance follow the actual rotor resistance very closely not only in steady state but also in transient.
  • the disclosed methods and systems provide for improved estimation of rotor resistance in induction motors and for improved control of induction motors.
  • the disclosed methods and systems provide for potentially more accurate estimation and control of rotor resistance of induction motors.
  • the disclosed methods and system also allow such estimation and control of rotor resistance of induction motors using potentially less expensive sensors and/or other equipment, and/or allows for such estimation and control of rotor resistance of induction motors to be conducted more quickly and/or more cost effectively.
  • the disclosed methods and system potentially provide such estimation and control of rotor resistance of induction motors that are reliable in both steady state and transient conditions.
  • the disclosed method and systems may vary from those depicted in the Figures and described herein.
  • certain elements of the system 100 of FIG. 1 such as the controller 110 and/or the computer system 120 and/or portions or components thereof, may vary, and/or may be part of and/or coupled to one or more other systems and/or devices.
  • certain steps of the process 200 and/or various steps, components, algorithms, and/or sub-algorithms thereof may vary from those depicted in FIG. 2 and/or described herein in connection therewith.
  • the disclosed methods and systems may be implemented and/or utilized in connection with various different types of automobiles, sedans, sport utility vehicles, trucks, and/or any of a number of other different types of vehicles and/or other types of devices.

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DE102010062552A DE102010062552A1 (de) 2009-12-10 2010-12-07 Verfahren und Systeme zur Induktionsmaschinensteuerung
CN201010587665.9A CN102097985B (zh) 2009-12-10 2010-12-10 用于感应电机控制的方法和系统

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US9166518B2 (en) 2011-06-27 2015-10-20 GM Global Technology Operations LLC Rotor temperature estimation for an electric vehicle
US8786244B2 (en) 2011-09-22 2014-07-22 GM Global Technology Operations LLC System and method for current estimation for operation of electric motors
US9024569B2 (en) * 2013-06-28 2015-05-05 Eaton Corporation System and method of rotor time constant online identification in an AC induction machine
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170054396A1 (en) * 2015-08-19 2017-02-23 Nidec Motor Corporation System and method for optimizing flux regulation in electric motors
US9787236B2 (en) * 2015-08-19 2017-10-10 Nidec Motor Corporation System and method for optimizing flux regulation in electric motors

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